/**

This file is part of MaCI/GIMnet.

MaCI/GIMnet is free software: you can redistribute it and/or modify it 
under the terms of the GNU Lesser General Public License as published 
by the Free Software Foundation, either version 3 of the License, or 
(at your option) any later version.

MaCI/GIMnet is distributed in the hope that it will be useful, but WITHOUT 
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public 
License for more details.

You should have received a copy of the GNU Lesser General Public 
License along with GIMnet. (See COPYING.LESSER) If not, see 
<http://www.gnu.org/licenses/>.

**/
/**
 * \file
 * \brief Example client for building MaCI Clients apps. (With Unit interface)
 * \author Antti Maula <antti.maula@tkk.fi>
 */
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <stdlib.h>
#include <string>
#include "ownutils.h"
#include "binbag.h"
#include "UnitClient.hpp"

#ifdef WINDOWS_OS
#include <getopt.h>
#endif

//*****************************************************************************
// Include GIMI in proper way
#define GIMI_CLIENT_API (20000)
#include "gimi.h"
//*****************************************************************************
// Set initial verbosity level to 1
static int verbose = 1;
//*****************************************************************************
// Choose your namespace
using namespace MaCI;
using namespace MaCI::Unit;
//*****************************************************************************
// Running?
static volatile bool run = true;
static ownThreadHandle signalHandlerThread;
//*****************************************************************************
static std::string datasource;
static std::string datasourceMaCISL;
//*****************************************************************************
//*****************************************************************************
// Example for using the callback.
class CUnitClientCallbackExample : public MaCI::Unit::CUnitClientCallback
{
public:
  CUnitClientCallbackExample() {
  }

  ~CUnitClientCallbackExample() {
  }
protected:
  void OnUnitDataEvent(const CUnitData &aData,
                        const unsigned int aDataSequence,
                        CUnitClient &aUnitClient) {
    dPrint(2,"Got UnitDataEvent %u through callback from Client %p:",
           aDataSequence, &aUnitClient);
    aData.Print(3);
  }
};
//*****************************************************************************
//*****************************************************************************
//*****************************************************************************
#ifdef LINUX_OS
static int SignalHandlerThread(void *)
{
  dPrint(8, "Signal handler thread (%ld) starting...", pthread_self());

  while (run) {
    // Now, wait for requested signals to arrive
    int sig;
    sigset_t mask;
    sigemptyset(&mask);
    sigaddset(&mask, SIGINT);
    sigaddset(&mask, SIGTERM);
    sigaddset(&mask, SIGPIPE);
    sigaddset(&mask, SIGHUP);
    sigwait(&mask, &sig);

    // Got signal, sigwait returned!
    dPrint(1,"Got Signal '%d' (%s)", sig, strsignal(sig));

    // What to do?
    switch(sig) {
    case SIGINT:
    case SIGTERM:
    case SIGPIPE:
    case SIGHUP:
      run = false;
      ownSleep_ms(1000);
      break;

    default:
      dPrint(1,"Unhandled signal! Ignore!");
      break;
    }
  }
  return 0;
}
//*****************************************************************************

static void InitSignalHandler(void)
{
  // Now; Set to BLOCK ALL SIGNALS
  sigset_t mask;
  sigemptyset(&mask);
  sigaddset(&mask, SIGINT);
  sigaddset(&mask, SIGTERM);
  sigaddset(&mask, SIGPIPE);
  sigaddset(&mask, SIGHUP);
  pthread_sigmask(SIG_BLOCK, &mask, NULL);

  // Start signal handler thread
  signalHandlerThread = ownThread_Create((void*)SignalHandlerThread, NULL);
}
#endif
//*****************************************************************************
//*****************************************************************************

/**
 * All MaCI modules should support these parameters with exactly these names
 * *** DO NOT CHANGE NOR DELETE ANY OF THEM ***
 * Howevery, feel free to add new parameters as you wish.
 */
static void showUsage()
{
  fprintf(stderr,"\n");
  fprintf(stderr,"Usage:\tUnitClientExample [OPTIONS]\n");
  fprintf(stderr,"  [-u addr]\t\t\tUse 'addr' as GIMnet AccessPoints address\n");
  fprintf(stderr,"  [-p port]\t\t\tUse 'port' as GIMnet AccessPoints port\n");
  fprintf(stderr,"  [-n name]\t\t\tUse 'name' as this nodes GIMnet name\n");
  fprintf(stderr,"  [-s name]\t\t\tSpecify the data source\n");
  fprintf(stderr,"  \t\t\t\tOR\n");
  fprintf(stderr,"  [-S name]\t\t\tSpecify the data source by MaCISL\n\n");

  fprintf(stderr,"  [-v]\t\t\t\tIncrease verbosity by 1\n");
  fprintf(stderr,"  [-q]\t\t\t\tQuiet mode\n");
  fprintf(stderr, "\n\n");
}
//*****************************************************************************
#if 0
static int dummyWatch(CUnitClient *dc)
{
  CUnitData dd;
  bool r;
  unsigned int sequence = 0;
  while(run) {

    r = dc->GetUnitEvent(dd, &sequence, 5000);
    if (r) {
      dPrint(1,"Got event:");
      dd.Print(1);
    }
  }

  return 0;
}
#endif
//*****************************************************************************

static int ExecuteExampleClient(gimi::GIMI &g)
{
  // Unit client instance
  CUnitClient uc(&g, 0);

  // Unit data instance
  CUnitData ud;
  ud.CreateInternalBinBag();

  // Variable for storing thread id.
  //  ownThreadHandle dummyWatchThread;
  

  // Assign default target.
  if (datasource.size()) {
    uc.SetDefaultTarget(datasource);
    
  } else {
    // GIMI is Open(), so we can execute this.
    MaCICtrl::SMaCISL sl(datasourceMaCISL);
    if (sl.IsValidFQMaCISL()) {
      uc.SetDefaultTarget(sl, 5000);
    }
    
  }
  // Assign callback
  //  uc.SetUnitClientCallback(&dcce);

  // Open.
  if (uc.Open() == KMaCIOK) {
    dPrint(ODINFO,"Succesfully Open():ed UnitClient, connected to service: '%s'",
           uc.GetDefaultTargetMaCISL().ToMaCISLString().c_str());
    
    //    dummyWatchThread = ownThread_Create((void*)dummyWatch, &dc);
    TAvailableUnitArray aua;
    TActiveUnitArray activeua;

    ownRandom_init_time();
    
    bool r = uc.GetAvailableUnits(aua, 1000);
    if (r) {
      dPrint(ODTEST,"Got %u available Units", aua.size());
      for(EACH_IN_i(aua)) {
        const TAvailableUnit &au = *i;;
        if (au.unit_type == KUnitTypeMachine && std::string(au.implementation) == "J2B2") {
          dPrint(ODTEST,"Unit: Type: %x (%s), Implementation: '%s', Id: '%u'", 
                 au.unit_type, "unknown",
                 au.implementation,
                 au.available_id);

          for(float x=-1.0; x <= 8.0; x += 4.0) {
            for(float y=-4.0; y <= 4.0; y += 4.0) {
              if (activeua.size()) break;
              if (x >= 2.0 && x <= 4.0 && 
                  y >= -1.0 && y <= 1.0) {
                // Skip ;)
              } else {
                
                char namei[64];
                sprintf(namei,"J2B2-%ld", random());
                TActiveUnit activeu;              
                dPrint(ODTEST,"Calling CreateUnit() with x: %f, y: %f", x, y);
                r = uc.CreateUnit(activeu,
                                  au.available_id,
                                  namei,
                                  TUnitPose(x, y, 0, 0, 0, 0),
                                  4000);
                assert(r == true);
                dPrint(ODTEST,"CreateUnit OK: available_id: %u, active_id: %u, instance: '%s'",
                       activeu.available_id,
                       activeu.active_id,
                       activeu.instance);            
                
                activeua.push_back(activeu);
              }
            }
          }
          
          dPrint(ODTEST,"Construction complete. Destroy!");
          ownSleep_ms(5000);
          for(EACH_IN_j(activeua)) {
            dPrint(ODTEST,"Attempting to delete unit with Active_ID: %u", j->active_id);
            r = uc.DeleteUnit(j->active_id, 2000);
            assert(r == true);
            dPrint(ODTEST,"Succesfully destroyed Unit with active_id %u",
                   j->active_id);
          }

        }
      }
    }
    
    
  } else {
    dPrint(1,"Failed to Open() UnitClient.");
    
  }
  
  
  return 0;
}
//*****************************************************************************

int main(int argc, char *argv[])
{
  // GIMnet parameters
  std::string gimnetAP = "asrobo.hut.fi";
  int gimnetAPPort = 40002;
  std::string gimnetName;

  // setup signal handling
#ifdef LINUX_OS
  InitSignalHandler();
#endif

  // Objects
  gimi::GIMI g;

  // Init Debug lib
  debugInit();
  debugSetGlobalDebugLvl(4);
  const std::string logfile = std::string(argv[0]) + ".log";
  debugSetLogFilename(logfile.c_str());

  // Greet
  fprintf(stderr,
	  "\n%s - $Revision: 1.4 $\n", argv[0]);

  /////////////////////////////////////////////////////////////////////////////
  // Parse parameters - Remember: ** DO NOT MODIFY OR DELETE ANY OF THIS **
  // _Add_ anything as you wish.
  /////////////////////////////////////////////////////////////////////////////
  bool parse = true;
  while(parse) {
    int c;
    c = getopt(argc, argv, "n:u:p:s:S:hqv");
    switch(c) {

      /////////////////////////////////
      ////// Application specific /////
      /////////////////////////////////

    case 's':
      datasource = optarg;
      dPrint(3,"Using DataSource '%s'", optarg);
      break;

    case 'S':
      datasourceMaCISL = optarg;
      dPrint(3,"Using DataSource MaCISL '%s'", optarg);
      break;

      /////////////////////////////////////////////////////////////////////////
      /// Add here anything you need.
      /////////////////////////////////////////////////////////////////////////

      /////////////////////////////////
      ///// MaCI/GIMnet parameters ////
      /////////////////////////////////
    case 'n':
      gimnetName = optarg;
      dPrint(3,"Using GIMnet Name '%s'", optarg);
      break;

    case 'u':
      gimnetAP = optarg;
      dPrint(3,"Using GIMnetAP address '%s'", optarg);
      break;

    case 'p':
      gimnetAPPort = atoi(optarg);
      dPrint(3,"Using GIMnetAP port '%d'", gimnetAPPort);
      break;

      //////////////////////////////////
      //// GENERIC:                 ////
      //////////////////////////////////
    case 'v':
      // Increase only if not previously set to 0 (by 'quiet')
      if (verbose > 0)
	debugSetGlobalDebugLvl(++verbose);
      break;

    case 'q':
      verbose = 0;
      debugSetGlobalDebugLvl(0);
      break;

    case 'h':
    case '?':
      showUsage();
      exit(1);
      break;

    case -1:
      parse = false;
      break;
    }
  }

  /////////////////////////////////////////////////////////////////////////////
  // Execute connection to GIMnet.
  /////////////////////////////////////////////////////////////////////////////
  int r;
  if ( (r = g.connectToHubEx(gimnetAP, gimnetAPPort, gimnetName) ) != GIMI_OK) {
    dPrint(1,"Failed to connect to GIMnet AccessPoint '%s:%d' with name '%s': '%s'",
	   gimnetAP.c_str(),
	   gimnetAPPort,
	   gimnetName.size()?gimnetName.c_str():"<anonymous>",
	   gimi::getGimiErrorString(r).c_str());

  } else {
    dPrint(2,"Succesfully connected to GIMnet at AccessPoint '%s:%d' with name '%s': '%s'",
	   gimnetAP.c_str(),
	   gimnetAPPort,
	   gimnetName.size()?gimnetName.c_str():"<anonymous>",
	   gimi::getGimiErrorString(r).c_str());

    // GIMnet connection OK, now execute module.
    r = ExecuteExampleClient(g);
  }

  return 0;
}
//*****************************************************************************
//*****************************************************************************
//*****************************************************************************
//*****************************************************************************


